CN106374461B - Method of the multi-area Interconnected Power System based on event triggering LOAD FREQUENCY control - Google Patents
Method of the multi-area Interconnected Power System based on event triggering LOAD FREQUENCY control Download PDFInfo
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- CN106374461B CN106374461B CN201610864411.4A CN201610864411A CN106374461B CN 106374461 B CN106374461 B CN 106374461B CN 201610864411 A CN201610864411 A CN 201610864411A CN 106374461 B CN106374461 B CN 106374461B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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Abstract
A kind of method the invention discloses multi-area Interconnected Power System based on event triggering LOAD FREQUENCY control, comprising: Step 1: establishing the mathematical model of multiple-energy-source power system load frequency control；Step 2: it is based on event trigger mechanism, the trigger conditions design of research LOAD FREGUENCY CONTROL FOR MULTI-AREA control；Step 3: the controller that design is triggered based on event；The present invention makes system be directly entered sliding formwork state from the beginning, and sliding formwork is present in entire control process；For System with Sliding Mode Controller, after system enters sliding formwork state, the dynamic property of system is determined by sliding mode completely, this control method has desired dynamic characteristic, and there is complete robustness to the variation of system parameter and external disturbance, eliminate buffeting, and due to using event trigger mechanism, enable multiple-energy-source electric system effectively to inhibit dynamic frequency deviation and dominant eigenvalues dynamic deviation, and effectively reduces network bandwidth occupation rate.
Description
Technical field
The present invention relates to technical field of power systems, the in particular to control method of multizone LOAD FREQUENCY.
Background technique
Power system load frequency control LFC (load frequency control) is to guarantee power supply quality and power train
The important control means of safe and reliable and economical operation one kind of uniting.The main needs of interconnected electric power system LFC first is that guarantee
Satisfied field frequency and Tie line Power, the appearance of field frequency and Tie line Power deviation are due to can not be pre-
Caused by imbalance between the load variations seen and workload demand.Although based on various classical linear control theories and advanced
The LFC method of control theory is it has been proposed that still due to the intrinsic characteristic of varying loading, and due to depositing in practical power systems
The problems such as model parameter is not known and running environment constantly changes, static controller is designed to solve the problems, such as that LFC may be no longer
Properly.Advanced control theory (including fuzzy control, neural network, PREDICTIVE CONTROL, self adaptive control and sliding formwork control etc.) is gradually
Research hotspot as LFC.
Sliding mode variable structure control as its to uncertainty present in system have extremely strong robustness, algorithm it is simple,
The advantages that good in anti-interference performance and easy canbe used on line and be widely used.In addition, multiple interconnected electric power systems are usually logical
Cross what wireless network connection was realized, a problem in need of consideration is exactly whether to have enough bandwidth in network control system,
It then will send control command on actuator and object in information feedback to controller.Event triggers controlling mechanism can be significant
The transmission data in network are reduced, mitigates the burden of network bandwidth occupation rate, reduces the power consumption of network node.Therefore, base
There is important theory significance and real value in the research of event trigger mechanism.In addition load variations are in practical power systems
Unavoidably.Multiple-energy-source electric system LFC problem, but these are much handled using the control method of sliding formwork control currently, having
Controller can only solve the problems, such as load disturbance, how effectively guarantee satisfied field frequency and Tie line Power, and energy
Less occupied bandwidth, this just needs to design more effective controller.
Summary of the invention
In view of this, the purpose of the present invention is not yet effectively solve its sliding formwork control at present for electric power interacted system field
The problem of device design is controlled with power system load frequency proposes that multi-area Interconnected Power System is based on event and triggers LOAD FREQUENCY
The method of control.
Method of the multi-area Interconnected Power System of the present invention based on event triggering LOAD FREQUENCY control, comprising the following steps:
Step 1: establishing the mathematical model of multiple-energy-source power system load frequency control；
The dynamic model of multi-region power system are as follows:
Wherein:
yi(t)=ACEi=Δ Ptie-i+βiΔfi,
Ci=[βi1 0 0]；
Wherein, xi(t) be ith zone state variable；ui(t) be ith zone system input；yiIt (t) is i-th
The system in a region exports.In addition, Δ fiFor frequency departure, Δ PdiFor load disturbance, Δ Ptie-iFor dominant eigenvalues deviation,
TgiFor regulating valve time constant, TtiFor turbine time constant, MiFor generator inertia, DiFor generator unit damped coefficient,
RiFor reduction of speed, βiFor frequency bias coefficient, ACEiFor district control deviation, TijFor interregional interconnection synchronization factor；
Because continuous time system is controlled by computer, status signal only realizes transmission during the sampling period, therefore is by original
System discretization obtains:
Wherein:
So far, the mathematical model of interconnected electric power system LOAD FREQUENCY control is obtained；
Step 2: the mathematical model of obtained interconnected electric power system LOAD FREQUENCY control is integrated using discrete type and is slided
Mould control method constructs following discrete integration sliding-mode surface:
Wherein: bi(0)=0, EiAnd LiIt is the unknown matrix being designed；
In addition, whether sampled data, which is transmitted to corresponding event trigger controller, is determined by judgement scheme below:
Wherein, klIt is newest triggering moment, k is current time, ΦiIt is the positive definite weighting matrix being designed, εiIt is given
Constant scalar, εi∈[0,1)；
Step 3: the controller that design is triggered based on event；
1) sliding-mode surface matrix LiAnd EiDesign, obtain the matrix equation for meeting stability condition for convenience, enable Li=
Hi TPi, Ei=Li[Gi+HiKi- I], wherein PiAnd KiIt is solved to obtain using simulation software；
2) in sliding formwork control, sliding formwork control ratio is by equivalent control ueqiWith switching control uswiIt constitutes, equivalent control guarantees
For system mode on sliding-mode surface, switching control guarantees system mode without departing from sliding-mode surface；To guarantee that sliding formwork reaching condition is set up, if
It is as follows to count switching law:
uswi(k)=- Ω si(k)-ρi(k)·sat(si(k)),
Wherein:Ω is a given positive definite constant,
Sign (x) is sign function；
3) sliding formwork control ratio ui(k)=ueqi(k)+uswi(k), ueqi(k) it is obtained by the event triggering sliding formwork diverter surface designed
It arrives, i.e., by si(k+1)=0 it obtains
In order to preferably handle disturbance, ω will be hadi(k) item design is in switching control uswiIn, and enable ueqi(k)=Kixi
(kl), so far arrive sliding formwork control ratio ui(k)；
4) sliding formwork control ratio ui(k) control instruction is sent to the actuator of system by event trigger mechanism, realizes control
Target processed.
Beneficial effects of the present invention:
Method of the multi-area Interconnected Power System of the present invention based on event triggering LOAD FREQUENCY control, makes system from the beginning
It is just directly entered sliding formwork state, sliding formwork is present in entire control process；For System with Sliding Mode Controller, when system enters sliding formwork shape
After state, the dynamic property of system is determined by sliding mode completely, and this control method has desired dynamic characteristic, and right
The variation of system parameter and external disturbance has complete robustness, eliminates buffeting, can guarantee that system has preferable performance,
Again due to using event trigger mechanism, multiple-energy-source electric system is enabled effectively to inhibit dynamic frequency deviation and dominant eigenvalues dynamic
State deviation, and effectively reduce network bandwidth occupation rate.
Detailed description of the invention
The electromechanical Force system line chart in the area Tu1Shi Liang two.
Fig. 2 is the dynamic model of i-th of control zone of multizone LOAD FREQUENCY control program；A usual multizone electric power
System is made of multiple regions LFC, and there are multiple generators in each region；Herein with an equivalent generator unit come simple
Change a regional generator.
Fig. 3 is event triggering sliding formwork control block diagram；For obtained mathematical model, using distributed control method,
That is constructing corresponding controller respectively for each control zone, subsystem state fills being transmitted to event by sensor
It sets, judges whether that the state for transmitting sensor continues transmission and goes down by event generator；If meeting trigger conditions, it is
System state runs past transmission of network to sliding mode controller；Likewise, controller instruction is passed through if meeting trigger conditions
Zero-order holder is transmitted to actuator, realizes control effect.
Fig. 4 is three regional power system rough schematic views.In order to verify feasibility of the invention, with three regional internet electric power
System similarly simplifies a regional generator as verifying example with an equivalent generator unit.
Fig. 5 is three regional power system frequency deviation f as event trigger parameters ε=0.1iResponse curve.
Fig. 6 is three regional power system dominant eigenvalues deviation delta P as event trigger parameters ε=0.1tie-iResponse
Curve.Through Fig. 5-6 as can be seen that as event trigger parameters ε=0.1, event trigger controller of the invention can make frequency
Rate deviation and dominant eigenvalues deviation reach zero.
Fig. 7 is as event trigger parameters ε=0.1, and 3 state of subregion transmits moment and transmission interval schematic diagram；
Fig. 8 is the 3 condition responsive curve of subregion as event trigger parameters ε=0.1；
Fig. 9 is as event trigger parameters ε=0.6, and 3 state of subregion transmits moment and transmission interval schematic diagram；
Figure 10 is the 3 condition responsive curve of subregion as event trigger parameters ε=0.6.
Through Fig. 7-10 as can be seen that when event trigger parameters difference, system mode response curve can go to zero, and
Event triggering times reduce with the increase of ε.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Method of the present embodiment multi-area Interconnected Power System based on event triggering LOAD FREQUENCY control, including following step
It is rapid:
Step 1: establishing the mathematical model of multiple-energy-source power system load frequency control；
The dynamic model of multi-region power system are as follows:
Wherein:
yi(t)=ACEi=Δ Ptie-i+βiΔfi,
Ci=[βi1 0 0]；
Wherein, xi(t) be ith zone state variable；ui(t) be ith zone system input；yiIt (t) is i-th
The system in a region exports.In addition, Δ fiFor frequency departure, Δ PdiFor load disturbance, Δ Ptie-iFor dominant eigenvalues deviation,
TgiFor regulating valve time constant, TtiFor turbine time constant, MiFor generator inertia, DiFor generator unit damped coefficient,
RiFor reduction of speed, βiFor frequency bias coefficient, ACEiFor district control deviation, TijFor interregional interconnection synchronization factor；
Because continuous time system is controlled by computer, status signal only realizes transmission during the sampling period, therefore is by original
System discretization obtains:
Wherein:
So far, the mathematical model of interconnected electric power system LOAD FREQUENCY control is obtained；
Step 2: the mathematical model of obtained interconnected electric power system LOAD FREQUENCY control is integrated using discrete type and is slided
Mould control method constructs following discrete integration sliding-mode surface:
Wherein: bi(0)=0, EiAnd LiIt is the unknown matrix being designed；
In addition, whether sampled data, which is transmitted to corresponding event trigger controller, is determined by judgement scheme below:
Wherein, klIt is newest triggering moment, k is current time, ΦiIt is the positive definite weighting matrix being designed, εiIt is given
Constant scalar, εi∈[0,1)；
Key of the invention is exactly binding events trigger mechanism and sliding-mode control；It is well known that by designed
Sliding formwork diverter surface, our available equivalent sliding formwork control ratio；As shown in figure 3, present invention introduces event trigger mechanisms
Afterwards, the available one Equivalent Sliding Mode control law based on event triggering；Then by time lapse analysis method, original system equation turns
It is changed to the sliding formwork equation of motion for triggering and having time delay based on event；It is mended by Shu Er and a series of mathematics is converted, solved
Meet the matrix equation of stability condition to the sliding formwork equation of motion；It is wherein obtained as a result, being not all linear matrix inequality
Form, non-convex feasibility problem can be converted to by the method for cone complementarity linearization (CCL) by solution linear matrix inequality
The minimization problem of form, so that eligible result can be solved directly using simulation software；
Step 3: the controller that design is triggered based on event；
The design object of controller are as follows: it is predesignated to guarantee that the track of each subsystem can move in finite time
Sliding mode region and be maintained in this region；Additionally, due to present invention introduces event trigger mechanism, system mode only exists
Sliding mode controller can be just sent to when trigger conditions meet；Controller of the invention is accomplished by
1) sliding-mode surface matrix LiAnd EiDesign, obtain the matrix equation for meeting stability condition for convenience, enable Li=
Hi TPi, Ei=Li[Gi+HiKi- I], wherein PiAnd KiIt is solved to obtain using simulation software；
2) in sliding formwork control, sliding formwork control ratio is by equivalent control ueqiWith switching control uswiIt constitutes, equivalent control guarantees
For system mode on sliding-mode surface, switching control guarantees system mode without departing from sliding-mode surface；To guarantee that sliding formwork reaching condition is set up, if
It is as follows to count switching law:
uswi(k)=- Ω si(k)-ρi(k)·sat(si(k)),
Wherein:Ω is a given positive definite constant, sign
It (x) is sign function；
3) sliding formwork control ratio ui(k)=ueqi(k)+uswi(k), ueqi(k) it is obtained by the event triggering sliding formwork diverter surface designed
It arrives, i.e., by si(k+1)=0 it obtains
In order to preferably handle disturbance, ω will be hadi(k) item design is in switching control uswiIn, and enable ueqi(k)=Kixi
(kl), so far arrive sliding formwork control ratio ui(k)；
4) sliding formwork control ratio ui(k) control instruction is sent to the actuator of system by event trigger mechanism, realizes control
Target processed.
Below with simulation software, the feasibility of verification algorithm.
To verify designed controller performance, the example of a three regional internet electric system is provided, as shown in Figure 3.
Wherein system parameter settings are as follows:
Tt1=0.31sec, Tg1=0.05sec, M1=0.2308pusec, D1=0.016pu/Hz, R1=3Hz/pu,
Tt2=0.35sec, Tg2=0.06sec, M2=0.2408pusec, D2=0.018pu/Hz, R2=2.87Hz/
pu,
Tt3=0.30sec, Tg3=0.08sec, M3=0.2372pusec, D3=0.013pu/Hz, R3=2.92Hz/
pu,
T12=0.52pu/Hz, T23=0.47pu/Hz, T31=0.55pu/Hz.
In addition, it is assumed that maximum delay τM=2.It discusses respectively imitative when event trigger parameters ε=0.1 and ε=0.6
True effect.It is as shown in Figure 5-10 to finally obtain simulation result.It can be seen from the figure that sliding formwork control ratio of the invention can guarantee
The stability of closed-loop system, and can reduce the utilization rate of network bandwidth.Wherein the number of bandwidth utilization rate can pass through tune
Event trigger parameters ε is saved to realize.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (1)
1. method of the multi-area Interconnected Power System based on event triggering LOAD FREQUENCY control, comprising the following steps:
Step 1: establishing the mathematical model of multiple-energy-source power system load frequency control；
The dynamic model of multi-region power system are as follows:
Wherein:
yi(t)=ACEi=Δ Ptie-i+βiΔfi,
Ci=[βi1 0 0]；
Wherein, xi(t) be ith zone state variable；ui(t) be ith zone system input；yiIt (t) is i-th of area
The system in domain exports；In addition, Δ fiFor frequency departure, Δ PdiFor load disturbance, Δ Ptie-iFor dominant eigenvalues deviation, TgiFor
Regulating valve time constant, TtiFor turbine time constant, MiFor generator inertia, DiFor generator unit damped coefficient, RiFor drop
Speed, βiFor frequency bias coefficient, ACEiFor district control deviation, TijFor interregional interconnection synchronization factor；
Because continuous time system is controlled by computer, status signal only during the sampling period realize transmission, therefore by original system from
Dispersion obtains:
Wherein:
So far, the mathematical model of interconnected electric power system LOAD FREQUENCY control is obtained；
Step 2: for the mathematical model of obtained interconnected electric power system LOAD FREQUENCY control, using discrete type Integral Sliding Mode control
Method processed constructs following discrete integration sliding-mode surface:
Wherein: bi(0)=0, EiAnd LiIt is the unknown matrix being designed；
In addition, whether sampled data, which is transmitted to corresponding event trigger controller, is determined by judgement scheme below:
Wherein, klIt is newest triggering moment, k is current time, ΦiIt is the positive definite weighting matrix being designed, εiIt is given normal
Number scalar, εi∈[0,1)；
Step 3: the controller that design is triggered based on event；
1) sliding-mode surface matrix LiAnd EiDesign, obtain the matrix equation for meeting stability condition for convenience, enable Li=Hi TPi, Ei
=Li[Gi+HiKi- I], wherein PiAnd KiIt is solved to obtain using simulation software；
2) in sliding formwork control, sliding formwork control ratio is by equivalent control ueqiWith switching control uswiIt constitutes, equivalent control guarantees system
For state on sliding-mode surface, switching control guarantees system mode without departing from sliding-mode surface；To guarantee that sliding formwork reaching condition is set up, design is cut
It is as follows to change control law:
uswi(k)=- Ω si(k)-ρi(k)·sat(si(k)),
Wherein:Ω is a given positive definite constant, sign (x)
It is sign function；
3) sliding formwork control ratio ui(k)=ueqi(k)+uswi(k), ueqi(k) it is obtained by the event triggering sliding formwork diverter surface designed, i.e.,
By si(k+1)=0 it obtains
In order to preferably handle disturbance, ω will be hadi(k) item design is in switching control uswiIn, and enable ueqi(k)=Kixi(kl),
So far sliding formwork control ratio u is arrivedi(k)；
4) sliding formwork control ratio ui(k) control instruction is sent to the actuator of system by event trigger mechanism, realizes control mesh
Mark.
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| CN106786768B (en) * | 2017-01-18 | 2020-08-18 | 中南大学 | Active interference suppression method and system for load frequency of power system |
| CN107918284A (en) * | 2018-01-10 | 2018-04-17 | 重庆大学 | Fuzzy control method of the Non-linear Inverted Pendulum System based on event trigger policy |
| CN108258681A (en) * | 2018-01-11 | 2018-07-06 | 南京邮电大学 | The security incident trigger control method of LOAD FREQUENCY control system under a kind of DoS attack |
| CN108879721B (en) * | 2018-06-15 | 2021-11-02 | 国网河南省电力公司电力科学研究院 | Frequency control method based on wind power consumption |
| CN108964089B (en) * | 2018-07-26 | 2021-11-26 | 广东工业大学 | Power system load frequency control method and related product |
| CN109004658B (en) * | 2018-08-08 | 2022-01-11 | 广东工业大学 | Load frequency control method and device for interconnected power system |
| CN111092441B (en) * | 2019-11-29 | 2021-05-11 | 江苏方天电力技术有限公司 | Method and system for controlling regional load frequency of pumped storage power station |
| CN111650835B (en) * | 2020-06-16 | 2021-10-22 | 电子科技大学 | Self-adaptive event-triggered asynchronous sliding mode control method of random jump system |
| CN111884215B (en) * | 2020-07-30 | 2023-04-28 | 海南电网有限责任公司海口供电局 | Uncertainty-containing single machine infinite power system optimization control method |
| CN112305914A (en) * | 2020-10-27 | 2021-02-02 | 东北大学 | Distributed control algorithm of power interconnection system considering blocking attack |
| CN112234629B (en) * | 2020-10-29 | 2022-06-07 | 西安理工大学 | Sliding mode load frequency control method of multi-region power system based on deception attack |
| CN112994024B (en) * | 2021-02-02 | 2022-09-16 | 中南大学 | Load frequency control method and system with improved temperature control load participation |
| CN113193575B (en) * | 2021-05-08 | 2023-12-12 | 国网山东省电力公司菏泽供电公司 | Low-delay power grid frequency regulation control method, system, storage medium and equipment |
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